Prediction of the Tool Tip Frequency Response Function for Robotic Milling System by Considering the Influence of Robot-Spindle Coupling Effect
The tool tip dynamic characteristics of the robotic milling system are affected by the coupling effect between the robot and spindle system,which makes it difficult to accurately predict the tool tip fre-quency response function.In order to solve the above problem,a tool tip frequency response function pre-diction method by considering the coupling effect of robot and spindle system was proposed.The prediction model of robot stiffness was constructed by combining field test and theoretical analysis.The variation law of robot stiffness with the change of machining path was studied,and the fitting function of robot stiffness was established.The finite element model of the spindle system was constructed by using simulation soft-ware,the coupling strategy between the robot and the spindle system was developed,and the tool tip fre-quency response function prediction method considering the stiffness characteristics of the joint surface was proposed.Then the tool tip frequency response function prediction model which including the robot stiffness characteristics was constructed.Field experiments were carried out to verify the validity of the model.The results show that the prediction error of the model is 1.313%for the main frequency of the tool tip and 0.502%for the amplitude of the main frequency,which can be used to predict the natural frequency of the tool tip under different robot poses.The change trend of the natural frequency of the tool tip with the change of the robot machining path was studied.The precision prediction of the natural frequency of the tool tip under a specific machining path was realized.
industrial robotsfrequency response functionstiffnessspindle systemnatural frequency
NETL
NSTL
万方数据
